CN117182965A - A fixed line device and robot - Google Patents

Abstract

The application belongs to the technical field of robot equipment, and provides a wire fixing device and a robot, wherein the wire fixing device comprises: an elastic framework which is tubular or rod-shaped; the connecting disc is provided with two connecting discs which are respectively fixedly connected with the end parts of the elastic framework and provided with a plurality of through holes distributed along the circumferential direction; the guide assemblies are arranged at intervals along the extending direction of the elastic framework and comprise a plurality of guide rings arranged along the circumferential direction of the elastic framework, and each guide ring is provided with a first opening; the support rings are at least provided with two guide grooves along the extending direction of the elastic framework, a plurality of guide grooves are arranged along the circumferential direction, the guide grooves are arranged corresponding to the guide rings, and the guide grooves are provided with second openings; the protection tube is sleeved outside the guide assemblies, the end parts of the protection tube are connected with the support ring and can rotate relative to the support ring, and a third opening through which a cable can pass is formed in the circumferential direction.

Description

A fixed line device and robot

Technical field

The invention relates to the technical field of robotic equipment, and in particular to a wire-fixing device and a robot.

Background technique

The cables of the SCARA robot include power lines, coding lines and grounding lines, as well as reserved air pipes and IO lines. Currently, these cables are arranged in corrugated tubes. When these cables are damaged and need to be replaced, they need to be removed and replaced. It is inconvenient to install cables. For example, when disassembling, you usually need to remove the connector at the end of the cable before taking out the cable; when replacing a new cable, you need to remove the two ends of other cables. Only after the ends are loosened can the new cable be passed through the corrugated tube. In general, the current cable fixation method makes it inconvenient to replace the cable.

Contents of the invention

In view of the deficiencies in the prior art, the purpose of the present invention is to provide a wire fixing device and a robot to facilitate the replacement of cables.

In a first aspect, the present invention provides a wire fixing device, which includes: an elastic frame, which is in the shape of a tube or a rod; two connecting plates are provided, which are respectively fixedly connected to the ends of the elastic frame, and have a plurality of connecting plates along the circumferential direction. Distributed through holes; a guide assembly, multiple of which are spaced apart along the extension direction of the elastic frame, including a plurality of guide rings arranged along the circumference of the elastic frame, the guide ring having a first opening; a support ring, At least two guide grooves are provided along the extension direction of the elastic frame, and a plurality of guide grooves are provided along the circumferential direction. The guide grooves are provided correspondingly to the guide ring, and the guide grooves have a second opening; and a protective tube, a sleeve It is provided outside a plurality of the guide assemblies, the end is connected to the support ring and can rotate relative to the support ring, and has a third opening in the circumferential direction through which cables can pass.

Further, the guide assembly further includes: an annular hoop body, which is sleeved outside the elastic frame, with the guide ring provided on it; and a locking structure for locking the annular hoop body.

Further, the annular hoop body includes: a first ring body with a fourth opening; two connecting parts arranged oppositely at the fourth opening of the first ring body; and a chute along the first ring body. The ring body is circumferentially arranged; the guide ring is slidably arranged in the chute.

Further, the cross section of the chute is convex, and a certain distance is maintained between both ends of the chute and the two connecting parts respectively; the guide ring includes: a second ring body with the third an opening; and a sliding retaining portion, fixedly connected to the second ring body and movable from the spacing into the chute.

Further, the sliding holding part includes: a housing; a rotating shaft, which is rotatably connected to the housing; one end is fixedly connected to the second ring body, and the other end extends into the housing; a gear, which is connected to the rotating shaft. The other end is coaxially connected and moves synchronously with the rotating shaft; two racks are arranged opposite each other, are slidingly connected to the inner wall of the housing, mesh with the gear, and one end can extend outside the housing. ; A pressing block, fixedly provided on the one end of the rack, can contact with the groove wall of the chute; and a torsion spring, sleeved on the rotating shaft, used to make all the ends of the rack The one end has a tendency to move outside the housing.

Further, the direction of the first openings on the two second ring bodies closest to the fourth opening is deflected away from the fourth opening.

Further, the gear is provided with an insertion hole into which one end of the torsion spring can be inserted, and the inner wall of the housing is provided with a slot into which the other end of the torsion spring can be inserted.

Further, it also includes a slip ring disposed on the support ring and rotatable along the circumferential direction of the support ring, the slip ring having a fifth opening corresponding to the second opening, the slip ring Connect to the end of the protective tube.

Further, a flexible filler is provided between two adjacent support rings and located in the protection tube, and the flexible filler is used to block the third opening.

In a second aspect, the present invention provides a robot including the wire fixing device described in any one of the above.

Beneficial effects of the present invention: The present invention provides a wire fixing device and a robot. Through the combination of the elastic skeleton, the connecting plate, the guide component, the support ring and the protective tube, when the cable needs to be replaced, the third opening of the protective tube is rotated. Go to the position directly opposite the first opening corresponding to the cable that needs to be replaced, then take out the cable from the guide ring and the guide groove on the support, and finally remove the cable through the third opening on the protective tube , during installation, insert the cable into the corresponding guide ring and guide groove on the support through the third opening on the protective tube. Therefore, when replacing a certain cable, there is no need to move other cables or remove the protective tube, and the cable can be replaced easily.

Description of the drawings

In order to more clearly explain the specific embodiments of the present invention or the technical solutions in the prior art, the drawings that need to be used in the description of the specific implementations or the prior art will be briefly introduced below. Throughout the drawings, similar elements or portions are generally identified by similar reference numerals. In the drawings, elements or parts are not necessarily drawn to actual scale.

Figure 1 is a schematic structural diagram of a robot provided by an embodiment of the present invention;

Figure 2 is a perspective view of a wire fixing device provided by an embodiment of the present invention;

Figure 3 is a perspective view of a partial structure of a wire fixing device provided by an embodiment of the present invention;

Figure 4 is a schematic structural diagram of a support ring provided by an embodiment of the present invention;

Figure 5 is a perspective view of a support ring and a slip ring assembled together according to an embodiment of the present invention;

Figure 6 is a schematic structural diagram of the elastic skeleton, guide assembly, support ring, slip ring and flexible filler assembled together according to an embodiment of the present invention;

Figure 7 is a perspective view of a guide assembly provided by an embodiment of the present invention;

Figure 8 is a perspective view of a guide ring provided by an embodiment of the present invention;

Figure 9 is a partially cutaway perspective view of the sliding holding portion provided by an embodiment of the present invention;

Figure 10 is a perspective view of a partial structure of the sliding holding portion provided by an embodiment of the present invention;

Figure 11 is a longitudinal half-sectional view of a guide ring provided by an embodiment of the present invention;

Reference signs:

100. Machine base; 200. First robotic arm; 300. Second robotic arm; 400. Shell;

10. Elastic skeleton;

20. Connection pad; 21. Through hole;

30. Guide components;

31. Guide ring; 311. Second ring body; 3111. First opening; 312. Sliding holding part; 3121. Housing; 3122. Slot; 3123. Rotating shaft; 3124. Gear; 3125. Rack; 3126. Insert Hole; 3127, compression block; 3128, torsion spring;

32. Annular hoop body; 321. First ring body; 322. Fourth opening; 323. Connection part; 324. Slide groove; 325. Spacing;

33. Locking structure;

40. Support ring; 41. Guide groove; 42. Second opening;

50. Protection tube; 51. Third opening;

60. Slip ring;

70. Flexible filling.

Detailed ways

The embodiments of the technical solution of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, and are therefore only examples and cannot be used to limit the scope of the present invention.

It should be noted that, unless otherwise stated, the technical terms or scientific terms used in this application should have the usual meanings understood by those skilled in the art to which this invention belongs.

In the description of this application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inside", "Outside", "Clockwise", "Counterclockwise", "Axis", The orientations or positional relationships indicated by "radial direction", "circumferential direction", etc. are based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply the referred devices or components. Must have a specific orientation, be constructed and operate in a specific orientation and are therefore not to be construed as limitations of the invention.

Furthermore, the terms “first”, “second”, etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. In the description of the present invention, "plurality" means two or more than two, unless otherwise explicitly and specifically limited.

In this application, unless otherwise clearly stated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In this application, unless otherwise expressly stated and limited, a first feature being "on" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediary. touch. Furthermore, the terms "above", "above" and "above" the first feature is above the second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "below" and "beneath" the first feature to the second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature has a smaller horizontal height than the second feature.

As shown in Figure 1, this application provides a robot, specifically a SCARA robot. The SCARA robot includes a base 100, a first mechanical arm 200, a second mechanical arm 300 and a shell 400. The shell 400 is disposed on the second mechanical arm. 300 on. As shown in Figure 2-11, this application provides a fixed line device, which is installed on the above-mentioned SCARA robot. The wire fixing device in this embodiment includes an elastic frame 10, a connecting plate 20, a guide assembly 30, a support ring 40 and a protective tube 50.

The elastic skeleton 10 is in the shape of a tube or a rod, and its material can be metal or composite material, and the composite material can be glass fiber. A connecting disk 20 is provided at both ends of the elastic frame 10. Each connecting plate 20 is fixedly connected to one end of the elastic frame 10. The fixed connection is preferably a detachable connection such as a threaded connection or a snap connection. The connecting plate 20 has a plurality of through holes 21 distributed along the circumferential direction. The through holes 21 are used for passing cables. In this embodiment, the number of the through holes 21 is preferably 5. The two connecting plates 20 are connected by threads or The bolt assembly is connected to the base and the shell 400 of the SCARA robot respectively.

A plurality of guide assemblies 30 are arranged at intervals along the extension direction of the elastic frame 10 , and the plurality of guide assemblies 30 are located between the two connecting plates 20 . Each guide assembly 30 includes a plurality of guide rings 31 distributed along the circumference of the elastic frame 10. The guide rings 31 on the guide assembly 30 and the through holes 21 on the connecting plate 20 are arranged in a one-to-one correspondence. Therefore, the guide rings The number of 31 is also 5. The guide ring 31 has a first opening 3111 through which cables can pass. The guide ring 31 can be a metal ring or a plastic ring. Each guide assembly 30 may only include a plurality of guide rings 31 , in which case each guide ring 31 is fixedly connected to the elastic frame 10 , and may also include other components other than the guide rings 31 .

At least two support rings 40 are provided along the extension direction of the elastic frame 10 , and all support rings 40 are located between the two connecting disks 20 . When the number of support rings 40 is two, all guide assemblies 30 are located between the two support rings 40 ; when the number of support rings 40 is greater than two, all guide assemblies 30 are located on the outermost two support rings 40 A certain number of guide assemblies 30 are distributed between two adjacent support rings 40 . Each support ring 40 is provided with a plurality of guide grooves 41 along the circumferential direction. The guide grooves 41 are arranged in one-to-one correspondence with the guide rings 31 . Therefore, the number of the guide grooves 41 is also five. The guide grooves 41 have holes for allowing cables to pass through. Second opening 42.

The protection tube 50 is sleeved outside the plurality of guide assemblies 30 . Both ends of the protection tube 50 are respectively connected to the support ring 40 and can rotate relative to the support ring 40 . The protective tube 50 is a corrugated tube, but has a third opening 51 on the circumference through which the cable can pass. The third opening 51 completely penetrates the protective tube 50 along the extension direction of the protective tube 50 . The number of protective tubes 50 is one less than the number of support rings 40 . Since the traditional corrugated tube on the SCARA robot usually includes a straight line segment and a semicircular arc segment, and in order to facilitate the rotation of the protective tube 50, it is preferred that the number of protective tubes 50 is three, and a protective tube is provided at the straight segment. 50, two protective tubes 50 are provided at the semicircular arc segment.

After the cable is placed in the guide ring 31, in order to prevent the cable from detaching from the first opening 3111 during use, the opening size of the first opening 3111 is smaller than the diameter of the cable, thereby preventing the cable from coming out of the first opening 3111. When an opening 3111 is inserted into the guide ring 31, the first opening 3111 of the guide ring 31 will be appropriately expanded. Due to its different structural form, the guide groove 41 on the support ring 40 cannot be expanded as easily as the guide ring 31, so the opening size of the second opening 42 on the support ring 40 is larger than the diameter of the cable. For the third opening 51 on the protection tube 50, in order to facilitate operation, its opening size is larger than the second opening 42.

In actual use, as shown in FIG. 6 , in order to reduce the risk of the cable detaching from the first opening 3111 , the direction of the first opening 3111 on the five guide rings 31 is as upward as possible, and the first opening 3111 on the protective tube 50 is The direction of the three openings 51 should be downward.

In this embodiment, when the cable needs to be replaced, the third opening 51 of the protection tube 50 is rotated to a position directly facing the first opening 3111 corresponding to the cable that needs to be replaced, and then the guide ring 31 and the Take out the cable from the guide groove 41 on the support member, and finally remove the cable through the third opening 51 on the protective tube 50. During installation, insert the cable into the corresponding guide through the third opening 51 on the protective tube 50. into the guide grooves 41 on the ring 31 and the support. Therefore, when replacing a certain cable, there is no need to move other cables, and there is no need to remove the protective tube 50, and the cable can be replaced very conveniently.

In one embodiment, as shown in FIG. 7 , in addition to the guide ring 31 , the guide assembly 30 also includes other components, specifically an annular hoop body 32 and a locking structure 33 . The annular hoop body 32 is placed outside the elastic frame 10, with a guide ring 31 installed on it, and the locking structure 33 is used to lock the annular hoop body 32. Through the annular hoop body 32 and the locking structure 33, the guide assembly 30 is conveniently fixed on the elastic frame 10.

In one embodiment, as shown in FIG. 7 , the annular hoop body 32 includes a first ring body 321 , a connecting portion 323 and a sliding groove 324 . Among them, the first ring body 321 has a fourth opening 322, and two connecting parts 323 are arranged oppositely at the fourth opening 322 of the first ring body 321. The two connecting parts 323 are respectively connected to both ends of the first ring body 321. Preferably, the connecting portion 323 is integrally formed with the first ring body 321 . A chute 324 is provided along the circumference of the first ring body 321. The guide ring 31 is disposed in the chute 324 and can slide in the chute 324. When the guide ring 31 stops sliding, the guide ring 31 remains in the chute 324. Not moving inside. The locking structure 33 is preferably a bolt assembly, wherein the bolt passes through the two connecting parts 323 .

Since the guide ring 31 will be appropriately expanded when the cable passes through the first opening 3111, when the number of guide rings 31 in each guide assembly 30 is more, such as 6 or 7, then the The distance 325 between adjacent guide rings 31 is smaller, and the expansion movement of the guide rings 31 may be restricted. Therefore, in this embodiment, the guide rings 31 can move in the chute 324 and remain stationary after moving. Therefore, when replacing a cable, the corresponding guide ring 31 or other guide rings 31 can be appropriately moved to increase the space around the guide ring 31 corresponding to the cable to be replaced, thereby facilitating the smooth insertion of the cable into the guide ring 31 or take it out from the guide ring 31.

In one embodiment, as shown in FIG. 7 , the cross section of the chute 324 is convex, and a certain distance 325 is maintained between the two ends of the chute 324 and the two connecting parts 323 respectively. The guide ring 31 includes a second ring body 311 and a sliding holding part 312. The second ring body 311 is provided with the above-mentioned first opening 3111. The sliding holding part 312 is fixedly connected to the second ring body 311 and can be accessed from the above-mentioned distance 325. After moving into the chute 324, the sliding retaining portion 312 can also be moved out of the chute 324 through the above-mentioned distance 325 to the outside of the chute 324. Through the above arrangement, it is convenient to install the guide ring 31 into the slide groove 324.

In one embodiment, as shown in Figures 9-11, the sliding holding part 312 includes a housing 3121, a rotating shaft 3123, a gear 3124, a rack 3125, a pressing block 3127 and a torsion spring 3128. Preferably, the outer shape of the housing 3121 is adapted to the slide groove 324, that is, it is also convex-shaped. The rotating shaft 3123 passes through the housing 3121 and is rotationally connected with the housing 3121. One end of the rotating shaft 3123 located outside the housing 3121 is fixedly connected to the second ring body 311, and the other end extends into the housing 3121. The gear 3124 is disposed in the housing 3121 and is coaxially and fixedly connected to the other end of the rotating shaft 3123, so that the gear 3124 moves synchronously with the rotating shaft 3123. Two racks 3125 are arranged opposite each other in the housing 3121. The racks 3125 are slidingly connected to the inner wall of the housing 3121. Both racks 3125 are meshed with the gear 3124. One end of the rack 3125 can extend out of the housing 3121. The other end of the rack 3125 is fixed with a pressing block 3127. The rack 3125 can drive the pressing block 3127 to move out of the housing 3121, and make the pressing block 3127 contact the groove wall of the chute 324, preferably on the groove wall of the chute 324 and/or the surface of the pressing block 3127. The anti-slip treatment is to increase the friction force, thereby increasing the anti-slip ability of the pressing block 3127. The torsion spring 3128 is sleeved on the rotating shaft 3123. Preferably, the gear 3124 is provided with a socket 3126 into which one end of the torsion spring 3128 can be inserted, and the inner wall of the housing 3121 is provided with a socket 3126 into which the other end of the torsion spring 3128 can be inserted. The torsion spring 3128 is used to make the one end of the rack 3125 tend to move out of the housing 3121.

In this embodiment, when it is necessary to move the guide ring 31, it is only necessary to slightly twist the second ring body 311 to overcome the resistance of the torsion spring 3128, so that the rack 3125 retracts into the housing 3121, so that the pressing block 3127 and The groove walls of the chute 324 separate so that the guide ring 31 can be moved. When the guide ring 31 moves to a suitable position, the second ring body 311 is released, the pressing block 3127 contacts the groove wall of the chute 324 again, and the guide ring 31 remains at the moved position. Therefore, this embodiment has the advantage of conveniently adjusting the position of the guide ring 31 .

In one embodiment, as shown in FIGS. 6 and 7 , the first openings 3111 on the two second ring bodies 311 closest to the fourth opening 322 are directed away from the fourth opening. 322 direction deflection. Under normal circumstances, the arrangement form of the five second ring bodies 311 (including the opening position of the first opening 3111 relative to the sliding holding part 312) should be consistent. However, when the distance 325 between the five second ring bodies 311 is very small, Or when there are more second ring bodies 311, causing the first openings 3111 on the two second ring bodies 311 closest to the fourth opening 322 to have to face downward, this situation will easily cause the cable to pass from here. The two second ring bodies 311 are separated from each other. Therefore, in this embodiment, the first openings 3111 on the two second ring bodies 311 are deflected at a certain angle away from the fourth opening 322, so that the first openings 3111 on the two second ring bodies 311 3111 faces upward, thereby reducing the possibility of the cable detaching from the first opening 3111, ensuring the reliability of the wire fixing device.

In one embodiment, as shown in FIGS. 5 and 6 , a slip ring 60 disposed on the support ring 40 and rotatable along the circumferential direction of the support ring 40 is also included. The slip ring 60 has a structure corresponding to the second opening 42 The fifth opening, preferably the opening size of the fifth opening is greater than or equal to the opening size of the fourth opening 322 , and the slip ring 60 is connected to the end of the protection tube 50 , such as by bolts. The slip ring 60 can be slidably locked by a separate bolt, so that it remains motionless on the support ring 40 after rotation, or it can also automatically remain motionless after rotation through an interference fit. By providing the slip ring 60, the protection tube 50 and the support ring 40 are conveniently connected together.

In one embodiment, as shown in FIG. 6 , a flexible filler 70 disposed between two adjacent support rings 40 and located in the protective tube 50 is also included. The flexible filler 70 is used to seal the third opening 51 To cover, it is preferred that the flexible filler 70 is a sponge. The third opening 51 is blocked by a sponge to prevent dust from entering, thereby protecting the cable.

In the description of the present invention, numerous specific details are described. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this description.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention. scope, they should be covered by the claims and the scope of the description of the present invention.

Claims (10)

1. A wire fixing device, comprising:

an elastic framework (10) which is tubular or rod-shaped;

the connecting discs (20) are provided with two connecting discs which are fixedly connected with the end parts of the elastic frameworks (10) respectively and are provided with a plurality of through holes (21) distributed along the circumferential direction;

a plurality of guide assemblies (30) are arranged at intervals along the extending direction of the elastic framework (10), each guide assembly comprises a plurality of guide rings (31) arranged along the circumferential direction of the elastic framework (10), and each guide ring (31) is provided with a first opening (3111);

the support rings (40) are at least two along the extending direction of the elastic framework (10), a plurality of guide grooves (41) are arranged along the circumferential direction, the guide grooves (41) are arranged corresponding to the guide rings (31), and the guide grooves (41) are provided with second openings (42); and

and a protection tube (50) which is sleeved outside the plurality of guide assemblies (30), the end part of which is connected with the support ring (40) and can rotate relative to the support ring (40), and a third opening (51) which can enable the cable to pass through is formed in the circumferential direction.

2. A wire fixing device according to claim 1, wherein,

the guide assembly (30) further comprises:

the annular hoop body (32) is sleeved outside the elastic framework (10), and the guide ring (31) is arranged on the annular hoop body; and

and the locking structure (33) is used for locking the annular hoop body (32).

3. A wire fixing device according to claim 2, wherein,

the annular hoop body (32) includes:

a first ring body (321) having a fourth opening (322);

the connecting parts (323) are oppositely arranged at the fourth opening (322) of the first ring body (321); and

a chute (324) arranged along the circumferential direction of the first ring body (321);

the guide ring (31) is slidably disposed within the chute (324).

4. A wire fixing device according to claim 3, wherein,

the cross section of the sliding groove (324) is in a convex shape, and a certain interval (325) is kept between two ends of the sliding groove (324) and the two connecting parts (323) respectively;

the guide ring (31) comprises:

a second ring body (311) having the first opening (3111); and

and a sliding holding part (312) fixedly connected with the second ring body (311) and capable of moving from the space (325) into the sliding groove (324).

5. A wire fixing device according to claim 1, wherein,

the slide holding section (312) includes:

a housing (3121);

a rotating shaft (3123) rotatably connected with the housing (3121), one end of which is fixedly connected with the second ring body (311), and the other end of which extends into the housing (3121);

a gear (3124) coaxially connected to the other end of the rotation shaft (3123) and synchronously moving with the rotation shaft (3123);

the racks (3125) are oppositely arranged, are connected with the inner wall of the shell (3121) in a sliding way, are meshed with the gear (3124), and can extend out of the shell (3121) at one end;

a pressing block (3127) fixedly provided at the one end of the rack (3125) and capable of abutting against the groove wall of the chute (324); and

and a torsion spring (3128) sleeved on the rotation shaft (3123) for enabling the one end of the rack (3125) to have a tendency to move outside the housing (3121).

6. The wire fixing device according to claim 5, wherein,

-two of said second rings (311) nearest to said fourth opening (322), on which the first opening (3111) is deflected in a direction away from said fourth opening (322).

7. A wire fixing device according to claim 6, wherein,

the gear (3124) is provided with a jack (3126) into which one end of the torsion spring (3128) can be inserted, and the inner wall of the housing (3121) is provided with a slot (3122) into which the other end of the torsion spring (3128) can be inserted.

8. A wire fixing device according to any one of claims 1 to 7, wherein,

the device further comprises a slip ring (60) which is arranged on the support ring (40) and can rotate along the circumferential direction of the support ring (40), the slip ring (60) is provided with a fifth opening corresponding to the second opening (42), and the slip ring (60) is connected with the end part of the protection tube (50).

9. The wire fixing device according to claim 8, wherein,

also included is a flexible filler (70) disposed between two adjacent support rings (40) and within the protective tube (50), the flexible filler (70) being configured to conceal the third opening (51).

10. A robot comprising a wire fixing device according to any one of claims 1-9.